基于动态规划的液力机械自动变速传动(HMPRT)自动换档控制策略
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摘要
针对外界负载变化比较剧烈的轮式装载机等工程车辆采用传统液力机械自动变速器时,面临着效率偏低、油耗较大的问题,提出在轮式装载机上应用新型回流式液力机械自动变速传动(Hydraulicmechanicalpowerrefluxtransmission,HMPRT)系统。装载机需要通过换档来适应复杂的作业要求,所以结合HMPRT调速特性制定基本换档规律。考虑到装载机等工程车辆常在已知典型的工况下进行作业,同时为避免基本换档规律的动力性和经济性模式的来回切换,降低驾驶员的工作量,采用动态规划建立HMPRT换档规律的优化设计方法。该方法首先根据装载机常用作业工况的特点及HMPRT的换档特性,确定DP控制参数,以燃油消耗作为代价函数,并且增加惩罚函数,用来避免产生频繁换档现象。研究结果表明,采用动态规划提出的换档规律时,与最佳动力性换档规律相比燃油消耗降低3.5%,与最佳经济性换档规律相比换档次数减少33.3%。综合考虑了典型作业工况,在保证动力性和经济性的同时,避免了频繁换档。
The external load of engineering vehicles such as wheeled loaders changes dramatically, traditional hydraulic mechanical automatic transmission is generally used, but it faces the problems of low efficiency and high fuel consumption. Therefore, a new type of hydraulic mechanical power reflux transmission system is proposed to apply to wheeled loaders. Because loaders need to adapt to complex operation requirements by shifting, the basic shift strategies are formulated according to the speed regulation characteristics of HMPRT. Considering that loaders and other engineering vehicles often work under the known typical working conditions, in order to avoid the back-and-forth switching of the dynamic and economic modes of the basic shift strategies and reduce the driver's workload, an optimal design method of the shift strategy of HMPRT is established by using dynamic programming(DP). First,according to the traits of the working condition of the loader and the gearshift characteristic of HMPRT, the DP control parameters are determined. The fuel consumption is used as cost function, and a penalty function is added to avoid frequent gearshift phenomenon.The research results indicate that the proposed DP shift strategy has good performance: the fuel consumption is reduced by 3.5%compared with the optimal dynamic shift strategy and the shift times are reduced by 33.3% compared with the optimal economic shift strategy. Considering the typical working conditions comprehensively, the frequent shifting is avoided while the power and economy are guaranteed.
The external load of engineering vehicles such as wheeled loaders changes dramatically, traditional hydraulic mechanical automatic transmission is generally used, but it faces the problems of low efficiency and high fuel consumption. Therefore, a new type of hydraulic mechanical power reflux transmission system is proposed to apply to wheeled loaders. Because loaders need to adapt to complex operation requirements by shifting, the basic shift strategies are formulated according to the speed regulation characteristics of HMPRT. Considering that loaders and other engineering vehicles often work under the known typical working conditions, in order to avoid the back-and-forth switching of the dynamic and economic modes of the basic shift strategies and reduce the driver's workload, an optimal design method of the shift strategy of HMPRT is established by using dynamic programming(DP). First,according to the traits of the working condition of the loader and the gearshift characteristic of HMPRT, the DP control parameters are determined. The fuel consumption is used as cost function, and a penalty function is added to avoid frequent gearshift phenomenon.The research results indicate that the proposed DP shift strategy has good performance: the fuel consumption is reduced by 3.5%compared with the optimal dynamic shift strategy and the shift times are reduced by 33.3% compared with the optimal economic shift strategy. Considering the typical working conditions comprehensively, the frequent shifting is avoided while the power and economy are guaranteed.
引文
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[21]龚捷,赵丁选,陈鹰,等.工程车辆自动变速器的节能换档规律研究[J].机械工程学报,2004,40(3):84-87.GONG Jie,ZHAO Dingxuan,CHEN Ying,et al.Study on shift schedule saving energy of engineering vehicular automatic transmission[J].Chinese Journal of Mechanical Engineering,2004,40(3):84-87.
[2]ROSSETTI A,MACOR A.Multi-objective optimization of hydro-mechanical power split transmissions[J].Mechanism and Machine Theory,2013,62:112-128.
[3]SCHNEIDER M,KOCH O,WEBER J.Green wheel loader-operating strategy of an energy efficient hybrid drive train[J].SAE,2014-01-2400,2014.
[4]李莺莺,邵善锋,李学忠,等.基于智能控制的装载机自动换档策略[J].机械工程学报,2009,45(8):216-220.LI Yingying,SHAO Shanfeng,LI Xuezhong,et al.Automatic gear shifting strategy for loader based on intelligent control[J].Journal of Mechanical Engineering,2009,45(8):216-220.
[5]ROKAHR D.Improvement of machine efficiency to increase production the new liebherr 982[R].SAE,821096,1982.
[6]OH K,YUN S,KO K,et al.Gear ratio and shift schedule optimization of wheel loader transmission for performance and energy efficiency[J].Automation In Construction,2016,69:89-101.
[7]VAGG C,BRACE C J,WIJETUNGE R,et al.Development of a new method to assess fuel saving using gear shift indicators[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2012,226(12):1630-1639.
[8]ZHANG Hongyan,ZHAO Dingxuan,TANG Xinxing,et al.Four-parameter automatic transmission technology for construction vehicle based on elman recursive neural network[J].Chinese Journal of Mechanical Engineering,2008,21(1):20-24.
[9]XI J,XIONG G,ZHANG Y.Application of automatic manual transmission technology in pure electric bus[C]//Vehicle Power and Propulsion Conference,Sept.3-5,2008,Harbin,China.IEEE,2008:1-4.
[10]MIAO C,LIU H,ZHU G G.Three-parameter transmission gear-shifting schedule for improved fuel economy[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2018,232(4):521-533.
[11]葛安林.车辆自动变速器理论与设计[M].北京:机械工业出版社,1991.GE Anlin.Theory and design of vehicle automatic transmission[M].Beijing:China Machine Press,1991.
[12]LIU X,SUN D,QIN D,et al.Achievement of fuel savings in wheel loader by applying hydrodynamic mechanical power split transmissions[J].Energies,2017,10(9):1267-1287.
[13]杨晋生.铲土运输机械设计[M].北京:机械工业出版社,1981.YANG Jinsheng.Design of earth-shoveling transportation machinery[M].Beijing:China Machine Press,1981.
[14]SHEN W,YU H,HU Y,et al.Optimization of shift schedule for hybrid electric vehicle with automated manual transmission[J].Energies,2016,9(3):220-231.
[15]FU J,SONG S,FU Z,et al.Real-time implementation of optimal control considering gear shifting and engine starting for parallel hybrid electric vehicle based on dynamic programming[J].Optimal Control Applications and Methods,2017,39(2):757-773.
[16]赵鹏宇,陈英龙,周华,等.基于转矩预测的混合动力挖掘机控制策略[J].机械工程学报,2018,54(1):99-106.ZHAO Pengyu,CHEN Yinglong,ZHOU Hua,et al.Control strategy of hybrid excavator based on torque prediction[J].Journal of Mechanical Engineering,2018,54(1):99-106.
[17]马相明,孙霞,张强.轮式装载机典型作业工况构建与分析[J].山东大学学报,2015,45(5):82-87.MA Xiangming,SUN Xia,ZHANG Qiang.Construction and analysis on typical working cycle of wheel loader[J].Journal of Shandong University,2015,45(5):82-87.
[18]FRANK B,KLEINERT J,FILLA R.Optimal control of wheel loader actuators in gravel applications[J].Automation in Construction,2018,91:1-14.
[19]WANG H,SUN D.Theory and application on powercycling variable transmission system[J].Journal of Mechanical Design,Transaction of ASME,2017,139(2):024501-1-024501-6.
[20]KANG H,GONG J,ZHAO D,et al.Optimal efficiency shift schedule of automatic transmission for construction vehicle[C]//International Conference on Manufacturing Science and Engineering,Advanced Materials Research,Automation Equipment And Systems,2012,468-471:2403-2408.
[21]龚捷,赵丁选,陈鹰,等.工程车辆自动变速器的节能换档规律研究[J].机械工程学报,2004,40(3):84-87.GONG Jie,ZHAO Dingxuan,CHEN Ying,et al.Study on shift schedule saving energy of engineering vehicular automatic transmission[J].Chinese Journal of Mechanical Engineering,2004,40(3):84-87.